Automotive sensor integration module

ABSTRACT

An automotive sensor integration module including a plurality of sensors which differ in at least one of a sensing period or an output data format, an interface unit configured to receive pieces of detection data outputted from the plurality of sensors and convert the received detection data into a predetermined data format, and a signal processing unit configured to simultaneously output pieces of converted detection data from the interface unit on the basis of the sensing period of one among the plurality of sensors.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a Divisional of U.S. patent application Ser. No.16/726,756, filed Dec. 24, 2019, which claims priority from and thebenefit of Korean Patent Application No. 10-2019-0133132, filed on Oct.24, 2019, each of which is hereby incorporated by reference for allpurposes as if set forth herein.

BACKGROUND

Exemplary embodiments relate to an automotive sensor integration module.

DISCUSSION OF THE BACKGROUND

As technology becomes more advanced, various sensors, electronicdevices, and the like are also provided in a vehicle for userconvenience. In particular, research regarding an advanced driverassistance system (ADAS) has been actively conducted for users' drivingconvenience. Furthermore, the development of autonomous vehicles isactively under way.

The ADAS and the autonomous vehicles require a large number of sensorsand electronic devices to identify objects outside a vehicle.

Referring to FIG. 1 , in order to detect objects in front of a vehicle,a camera, a lidar, a radar sensor, etc. are disposed in front of thevehicle, but are disposed at different positions respectively.

Although objects should be identified on the basis of detection resultsdetected by sensors at the same timing in order to improve performancein detecting objects, it becomes difficult to synchronize objectdetection sensors because the sensors are disposed at differentpositions.

The above information disclosed in this Background section is only forenhancement of understanding of the background of the invention and,therefore, it may contain information that does not constitute priorart.

SUMMARY

Exemplary embodiments of the present invention provide an automotivesensor integration module in which a plurality of synchronized sensorsare arranged.

The inventive features are not limited to the above-mentioned exemplaryembodiments, and other aspects and advantages of the present invention,which are not mentioned, will be understood through the followingdescription, and will become apparent from the embodiments of thepresent invention. Furthermore, it will be understood that aspects andadvantages of the present invention can be achieved by the means setforth in the claims and combinations thereof.

An exemplary embodiment of the present invention provides an automotivesensor integration module including a plurality of sensors which differin at least one of a sensing period or an output data format, aninterface unit configured to receive pieces of detection data outputtedfrom the plurality of sensors and convert the received detection datainto a predetermined data format, and a signal processing unitconfigured to simultaneously output pieces of converted detection datafrom the interface unit on the basis of the sensing period of one amongthe plurality of sensors.

The automotive sensor integration module may include a plurality ofsensors including at least one of an optical camera, an infrared camera,a radar, or a lidar, and a circuit board in which the plurality ofsensors are mounted.

Another exemplary embodiment of the present invention provides anautomotive sensor integration module including one or more opticalcameras, one or more infrared cameras, one or more radars, one or morelidars, and a circuit board in which the optical camera, the infraredcamera, the radar, and the lidar are mounted. The automotive sensorintegration module outputs, at the same timing, pieces of detection dataoutputted from the optical camera, the infrared camera, the radar, andthe lidar on the basis of detection data outputted from the opticalcamera.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory and areintended to provide further explanation of the invention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the invention and are incorporated in and constitute apart of this specification, illustrate embodiments of the invention, andtogether with the description serve to explain the principles of theinvention.

FIG. 1 is a diagram illustrating the external appearance of anautonomous vehicle.

FIG. 2 is a diagram illustrating an external view of an automotivesensor integration module according to an exemplary embodiment of thepresent invention.

FIG. 3 is a diagram illustrating a configuration of an automotive sensorintegration module according to an exemplary embodiment of the presentinvention.

FIG. 4 is a diagram illustrating a configuration of a signal processingunit of FIG. 3 .

FIG. 5 is a timing diagram illustrating an operation of an automotivesensor integration module according to an exemplary embodiment of thepresent invention.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

Various advantages and features of the present invention and methodsaccomplishing thereof will become apparent from the followingdescription of embodiments with reference to the accompanying drawings.However, the present invention is not to be limited to the embodimentsset forth herein but may be implemented in many different forms. Thepresent embodiments may be provided so that the disclosure of thepresent invention will be complete, and will fully convey the scope ofthe invention to those skilled in the art and therefore the presentinvention will be defined within the scope of claims. Like referencenumerals throughout the description denote like elements.

Unless defined otherwise, it is to be understood that all the terms(including technical and scientific terms) used in the specification hasthe same meaning as those that are understood by those who skilled inthe art. Further, the terms defined by the dictionary generally usedshould not be ideally or excessively formally defined unless clearlydefined specifically. It will be understood that for purposes of thisdisclosure, “at least one of X, Y, and Z” can be construed as X only, Yonly, Z only, or any combination of two or more items X, Y, and Z (e.g.,XYZ, XYY, YZ, ZZ). Unless particularly described to the contrary, theterm “comprise”, “configure”, “have”, or the like, which are describedherein, will be understood to imply the inclusion of the statedcomponents, and therefore should be construed as including othercomponents, and not the exclusion of any other elements.

As is customary in the field, some exemplary embodiments are describedand illustrated in the accompanying drawings in terms of functionalblocks, units, and/or modules. Those skilled in the art will appreciatethat these blocks, units, and/or modules are physically implemented byelectronic (or optical) circuits, such as logic circuits, discretecomponents, microprocessors, hard-wired circuits, memory elements,wiring connections, and the like, which may be formed usingsemiconductor-based fabrication techniques or other manufacturingtechnologies. In the case of the blocks, units, and/or modules beingimplemented by microprocessors or other similar hardware, they may beprogrammed and controlled using software (e.g., microcode) to performvarious functions discussed herein and may optionally be driven byfirmware and/or software. It is also contemplated that each block, unit,and/or module may be implemented by dedicated hardware, or as acombination of dedicated hardware to perform some functions and aprocessor (e.g., one or more programmed microprocessors and associatedcircuitry) to perform other functions. Also, each block, unit, and/ormodule of some exemplary embodiments may be physically separated intotwo or more interacting and discrete blocks, units, and/or moduleswithout departing from the scope of the inventive concepts. Further, theblocks, units, and/or modules of some exemplary embodiments may bephysically combined into more complex blocks, units, and/or moduleswithout departing from the scope of the inventive concepts. Hereinafter,exemplary embodiments of the present invention will be described in moredetail with reference to the accompanying drawings.

FIG. 2 is an outside view of an automotive sensor integration moduleaccording to an exemplary embodiment of the present invention.

An automotive sensor integration module according to an exemplaryembodiment of the present invention may include a plurality of devicesand sensors for detecting objects outside a vehicle to acquire safetyinformation related to vehicle driving. In this case, the objects mayinclude a lane, another vehicle, a pedestrian, a two-wheeled vehicle, atraffic signal, light, a road, a structure, a speed bump, a geographicalfeature, an animal, etc.

The lane may be a driving lane, a lane next to the driving lane, or alane in which a vehicle is driving in the opposite direction. The lanemay include left and right lines forming a lane.

Another vehicle may be a vehicle that is traveling in the vicinity of ahost vehicle. The other vehicle may be a vehicle within a predetermineddistance from the host vehicle. For example, the other vehicle may be avehicle that is located within a predetermined distance from the hostvehicle and precedes or follows the host vehicle.

The pedestrian may be a person in the vicinity of a host vehicle. Thepedestrian may be a person located within a predetermined distance fromthe host vehicle. For example, the pedestrian may be a person on asidewalk or the roadway within a predetermined distance from the hostvehicle.

The two-wheeled vehicle may be a vehicle that is located in the vicinityof a host vehicle and moves using two wheels. The two-wheeled vehiclemay be a vehicle that has two wheels and is located within apredetermined distance from the host vehicle. For example, thetwo-wheeled vehicle may include a motorcycle or a bicycle on a sidewalkor the roadway within a predetermined distance from the vehicle.

The traffic signal may include a traffic light, a traffic sign, or apattern or text drawn on a road surface.

The light may include light from a lamp in another vehicle, light from astreet lamp, or light emitted from the sun.

The road may include a road surface, a curve, and a slope, such as anupward slope and a downward slope.

The structure may be an object which is located around the road andfixed onto the ground. For example, the structure may include astreetlight, a roadside tree, a building, a power pole, a traffic light,a bridge, etc.

The geographical feature may include a mountain, a hill, etc.

Meanwhile, the objects may be classified into a moving object and astationary object. For example, the moving object may conceptuallyinclude another vehicle, a two-wheeled vehicle, a pedestrian, etc.,while the stationary object may conceptually include a traffic signal, aroad, a structure, etc.

As such, it may be desirable to use various sensors and devices toaccurately identify various objects around a vehicle.

In order to accurately identify objects outside a vehicle, an automotivesensor integration module 100 according to an exemplary embodiment ofthe present invention may include a plurality of different types ofsensors and devices. In addition, the automotive sensor integrationmodule 100 according to an exemplary embodiment of the present inventionmay include at least one sensor and device of the same type.

Referring to FIG. 2 , the automotive sensor integration module 100according to an exemplary embodiment of the present invention mayinclude an infrared camera 12, an optical camera 11, a lidar 14, and aradar 13 as a sensor to identify an object outside a vehicle. Theautomotive sensor integration module 100 according to an exemplaryembodiment of the present invention illustrated in FIG. 2 is exemplarilyshown to include an infrared camera 12, an optical camera 11, a lidar14, and a radar 13 as a sensor in order to identify an object, but isnot limited thereto. In addition, the automotive sensor integrationmodule 100 according to an exemplary embodiment of the present inventionillustrated in FIG. 2 shows two infrared cameras 12, one optical camera11, two lidars 14, and one radar 13, but the number of each sensor issuggested only for illustrative purposes and is not limited thereto.

Referring to FIG. 2 , the automotive sensor integration module 100according to an exemplary embodiment of the present invention mayinclude a circuit board 5, an infrared camera 12, an optical camera 11,a radar 13, and a lidar 14. For example, the automotive sensorintegration module 100 according to an exemplary embodiment of thepresent invention may include a circuit board 5 on which an infraredcamera 12, an optical camera 11, a radar 13, and a lidar 14 are disposedand mounted.

The optical camera 11 designed to acquire outside images of a vehiclethrough light and recognize objects, light, and people around thevehicle may include a mono camera, a stereo camera, an around viewmonitoring (AVM) camera, and a 360-degree camera. The optical camera 11has advantages of being able to detect colors and accurately classifyobjects compared to other sensors, but has a disadvantage of beingaffected by environmental factors, such as darkness, backlight, snow,rain, fog, etc.

The radar 13 may detect an object on the basis of a time-of-flight (TOF)method or a phase-shift method through electromagnetic waves, and detectthe location of a detected object, the distance to the detected object,and the relative speed. The radar 13 has an advantage of being capableof long distance detection without being affected by environmentalfactors, such as darkness, snow, rain, fog, etc., but has a disadvantageof failing to detect an object, made of an electromagneticwave-absorbing material, for example, a steel structure, such as atunnel or a guardrail, and thus, being unable to classify objects.

The lidar 14 may detect an object on the basis of a TOF method or aphase-shift method through laser light, and detect the location of adetected object, the distance to the detected object, and the relativespeed. The lidar 14 has advantages of being less affected byenvironmental factors such as darkness, snow, rain, fog, etc., efficientin long- and short-distance detection due to high resolution, andobjects are able to be simply classified, but has a disadvantage offailing to measure the speed of objects immediately.

The infrared camera 12 may acquire outside images of a vehicle throughinfrared rays. In particular, the infrared camera 12 may acquire outsideimages of the vehicle even in darkness at night. The infrared camera 12has advantages of being capable of long distance detection and beingcapable of distinguishing living things from objects without beingaffected by environmental factors such as darkness, snow, rain, fog,etc. but has a disadvantage of being expensive.

As such, in order to accurately classify and identify external objectsaround a vehicle regardless of environmental factors, the advantages anddisadvantages of each sensor must be combined. Therefore, the automotivesensor integration module 100 according to an exemplary embodiment ofthe present invention discloses a structure in which a plurality ofdifferent sensors are all disposed and mounted on a circuit board 5. Inaddition, the automotive sensor integration module 100 according to anexemplary embodiment of the present invention may synchronize and outputdetection results of a plurality of sensors having different operationcycles, thereby having an advantage of classifying and identifyingobjects more accurately.

FIG. 3 is a diagram illustrating a configuration of an automotive sensorintegration module 100 according to an exemplary embodiment of thepresent invention.

Referring to FIG. 3 , an automotive sensor integration module 100according to an exemplary embodiment of the present invention mayinclude an optical camera 11, an infrared camera 12, a radar 13, a lidar14, an interface unit 20, and a signal processing unit 30. In this case,the interface unit 20 and the signal processing unit 30 may beimplemented as hardware or software on the circuit board shown in FIG. 2.

The optical camera 11 may output information detected by medium of lightas the first detection data C_s.

The infrared camera 12 may output information detected by medium ofinfrared light as the second detection data IC_s.

The radar 13 may output information detected by medium ofelectromagnetic waves as the third detection data R_s.

The lidar 14 may output information detected by medium of laser light asthe fourth detection data L_s.

In this case, communication standards of the detection data C_s, IC_s,R_s, and L_s outputted by the optical camera 11, the infrared camera 12,the radar 13, and the lidar 14 may be different. For example, the firstdetection data C_s outputted by the optical camera 11 may be data of aformat used in Low Voltage Differential Signal (LVDS) communication. Thesecond detection data IC_s outputted by the infrared camera 12 may bedata of a format used in Gigabit Multimedia Serial Link (GMSL)communication. The radar 13 and the lidar 14 may be data of a formatused in Ethernet.

The interface unit 20 may convert the first-to-fourth detection dataC_s, IC_s, R_s, and L_s, the data formats of which have been convertedinto one preset data format. The interface unit 20 may convert thefirst-to-fourth detection data C_s, IC_s, R_s, and L_s, the data formatsof which have been converted into one preset data format. In this case,the vehicle network communication technology may include Controller AreaNetwork (CAN) communication, Local Interconnect Network (LIN)communication, Flex-Ray® communication, Ethernet, and so on. Forexample, the interface unit 20 may convert the first-to-fourth detectiondata C_s, IC_s, R_s, and L_s into data of a format according to Ethernetcommunication.

The signal processing unit 30 may receive the first-to-fourth detectiondata C_s, IC_s, R_s, and L_s of the same format converted by theinterface unit 20. The signal processing unit 30 may synchronize thefirst-to-fourth detection data C_s, IC_s, R_s, and L_s of the sameformat outputted from the interface unit 20 to a preset timing andoutput the detection data to the outside of the automotive sensorintegration module 100 as the first-to-fourth sensing data C_ss,

IC_ss, R_ss, and L_ss. For example, the signal processing unit 30 mayoutput the first-to-fourth detection data C_s, IC_s, R_s, and L_s as thefirst-to-fourth sensing data C_ss, IC_ss, R_ss, and L_ss at the sametiming on the basis of the input timing of one of the first-to-fourthdetection data C_s, IC_s, R_s, and L_s. For a more detailed example, thesignal processing unit 30 may be configured to receive and store thefirst-to-fourth detection data C_s, IC_s, R_s, and L_s, and if apredetermined time elapses after the third detection data R_s isinputted to the signal processing unit 30, output the storedfirst-to-fourth detection data C_s, IC_s, R_s, and L_s as thefirst-to-fourth sensing data C_ss, IC_ss, R_ss, and L_ss.

FIG. 4 is a diagram illustrating a configuration of the signalprocessing unit of FIG. 3 .

Referring to FIG. 4 , the signal processing unit 30 may include asynchronization pulse generation unit 31 and an output synchronizationunit 36. In this case, the signal processing unit 30 may receive theconverted first-to-fourth detection data C_s, IC_s, R_s, and L_s fromthe interface unit 20.

Hereinafter, in the description of the signal processing unit 30, thefirst-to-fourth detection data C_s, IC_s, R_s, and L_s, the data formatsof which have been converted by the interface unit 20, are simplyreferred to as the first-to-fourth detection data C_s, IC_s, R_s, andL_s for convenience, but it should be noted that the first-to-fourthdetection data C_s, IC_s, R_s, and L_s respectively inputted to thesynchronization pulse generation unit 31 and the first-to-fourthsynchronization output units 32, 33, 34, and 35 constituting the signalprocessing unit 30 are data, the formats of which have been converted bythe interface unit 20.

The synchronization pulse generation unit 31 may receive the thirddetection data R_s and output a synchronization pulse P_s. Thesynchronization pulse generation unit 31 may generate and output thesynchronization pulse P_s on the basis of the third detection data R_s.For example, the synchronization pulse generation unit 31 may generateand output the synchronization pulse P_s when a predetermined time haselapsed after the third detection data R_s was inputted.

The output synchronization unit 36 may receive the first-to-fourthdetection data C_s, IC_s, R_s, and L_s and the synchronization pulseP_s, and outputs the first-to-fourth sensing data C_ss, IC_ss, R_ss, andL_ss. For example, the output synchronization unit 36 may receive andstore the converted first-to-fourth detection data C_s, IC_s, R_s, andL_s provided from the interface unit 20 and according to thesynchronization pulse P_s, output the stored first-to-fourth detectiondata C_s, IC_s, R_s, and L_s as the first-to-fourth sensing data C_ss,IC_ss, R_ss, and L_ss.

The output synchronization unit 36 may include a first synchronizationoutput unit 32, a second synchronization output unit 33, a thirdsynchronization output unit 34, and a fourth synchronization output unit35.

The first synchronization output unit 32 may receive the first detectiondata C_s and the synchronization pulse P_s and output the first sensingdata C_ss. For example, the first synchronization output unit 32 mayreceive and store the first detection data C_s and output the storedfirst detection data C_s as the first sensing data C_ss on the basis ofthe synchronization pulse P_s. In more detail, the first synchronizationoutput unit 32 may receive and store the first detection data C_s andoutput the stored first detection data C_s as the first sensing dataC_ss when the synchronization pulse P_s is inputted.

The second synchronization output unit 33 may receive the seconddetection data IC_s and the synchronization pulse P_s and output thesecond sensing data IC_ss. For example, the second synchronizationoutput unit 33 may receive and store the second detection data IC_s andoutput the stored second detection data IC_s as the second sensing dataIC_ss on the basis of the synchronization pulse P_s. In more detail, thesecond synchronization output unit 33 may receive and store the seconddetection data IC_s and output the stored second detection data IC_s asthe second sensing data IC_ss when the synchronization pulse P_s isinputted.

The third synchronization output unit 34 may receive the third detectiondata R_s and the synchronization pulse P_s and output the third sensingdata R_ss. For example, the third synchronization output unit 34 mayreceive and store the third detection data R_s, and output the storedthird detection data R_s as the third sensing data R_ss on the basis ofthe synchronization pulse P_s. In more detail, the third synchronizationoutput unit 34 may receive and store the third detection data R_s, andmay output the stored third detection data R_s as the third sensing dataR_ss when the synchronization pulse P_s is inputted.

The fourth synchronization output unit 35 may receive the fourthdetection data L_s and the synchronization pulse P_s and output thefourth sensing data L_ss. For example, the fourth synchronization outputunit 35 may receive and store the fourth detection data L_s, and outputthe stored fourth detection data L_s as the fourth sensing data L_ss onthe basis of the synchronization pulse P_s. In more detail, the fourthsynchronization output unit 35 may receive and store the fourthdetection data L_s, and may output the stored fourth detection data L_sas the fourth sensing data L_ss when the synchronization pulse P_s isinputted.

In this case, each of the first-to-fourth synchronization output units32, 33, 34, and 35 may include a register. The automotive sensorintegration module 100 according to an exemplary embodiment of thepresent invention is briefly described as follows.

As shown in FIG. 3 , the automotive sensor integration module 100according to an exemplary embodiment of the present invention mayinclude a plurality of sensors for detecting an object outside avehicle, and the plurality of sensors may include an optical camera 11,an infrared camera 12, a radar 13, and a lidar 14. Sensors withdifferent media that detect objects may output the detection results asdata in different communication formats. Therefore, the automotivesensor integration module 100 according to an exemplary embodiment ofthe present invention includes the interface unit 20 to convert thedetection results of the sensors, which are outputted as data indifferent communication formats, into data according to one presetcommunication format.

In addition, the optical camera 11, the infrared camera 12, the radar13, and the lidar 14 may have different sensing (or operating) periods.For example, the optical camera 11 and the infrared camera 12 may have asensing period of 30 Hz, and the radar 13 may have a sensing period of20 Hz, and the lidar 14 may have a sensing period of 10 Hz. Accordingly,the optical camera 11 and the infrared camera 12 may output the firstand second detection data C_s and IC__s every first time (33 ms), andthe radar 13 may output the third detection data R_s every second time(50 ms), and the lidar 14 may output the fourth detection data L_s everythird time (100 ms).

In order to accurately identify an object located outside the vehicle,detection data detected at the same time from the optical camera 11, theinfrared camera 12, the radar 13, and the lidar 14 are required.However, as described above, each of the optical camera 11, the infraredcamera 12, the radar 13, and the lidar 14 has a different sensingperiod, and thus, it may be difficult to identify an object.

The automotive sensor integration module 100 according to an exemplaryembodiment of the present invention includes a signal processing unit 30so that the detection data of the optical camera 11, the infrared camera12, the radar 13, and the lidar 14 may be synchronized and outputted onthe basis of the sensing period of one of the optical camera 11, theinfrared camera 12, the radar 13, and the lidar 14. Therefore, theautomotive sensor integration module 100 according to an exemplaryembodiment of the present invention is advantageous for identifying anobject located outside the vehicle.

FIG. 5 is a timing diagram illustrating an operation of an automotivesensor integration module according to an exemplary embodiment of thepresent invention. In this case, FIG. 5 illustrates a timing diagram inwhich the detection data C_s, R_s and L_s of the optical camera 11, theradar 13, and the lidar 14 among the optical camera 11, the infraredcamera 12, the radar 13, and the lidar 14 shown in FIG. 3 are inputtedto or stored in the signal processing unit 30 and outputted as thesensing data C_ss, R_ss, and L_ss. For example, by using the examplethat the infrared camera 12 has the same sensing period as that of theoptical camera 11, the description of the synchronization operation ofthe detection data IC_s of the infrared camera 12 is replaced with thatof the detection data C_s outputted from the optical camera 11.

The automotive sensor integration module 100 according to an exemplaryembodiment of the present invention using a configuration forsynchronizing and outputting the detection data of the optical camera11, the infrared camera 12, the radar 13, and the lidar 14 on the basisof the sensing period of the radar 13 among the optical camera 11, theinfrared camera 12, the radar 13, and the lidar 14 as an example isshown in FIG. 5 .

Referring to FIGS. 4 and 5 , the operation of the automotive sensorintegration module 100 according to an exemplary embodiment of thepresent invention is described as follows.

The signal processing unit 30 configured in the automotive sensorcommunication module 100 may include a synchronization pulse generationunit 31 and an output synchronization unit 36, and as described above,the output synchronization unit 36 may include first-to-fourthsynchronization output units 32, 33, 34, and 35.

The synchronization pulse generation unit 31 may generate and output thesynchronization pulse P_s when a predetermined time PT has elapsed afterthe third detection data R_s was inputted from the radar 13.

Thus, as shown in FIG. 5 , the synchronization pulse P_s is generatedeach time when a predetermined time has elapsed after the thirddetection data R_s was inputted to the synchronization pulse generationunit 31 of the signal processing unit 30 and.

The first detection data C_s, the third detection data R_s, and thefourth detection data L_s respectively outputted from the optical camera11, the radar 13, and the lidar 14 are respectively stored in the firstsynchronization output unit 32, the third synchronization output unit34, and the fourth synchronization output unit 35.

The first-to-fourth synchronization output units 32, 33, 34, and 35respectively store the inputted data and output the stored data assensing data C_ss, R_ss, L_ss, and IC_ss on the basis of thesynchronization pulse P_s.

Accordingly, as shown in FIG. 5 , at the timing at which thesynchronization pulse P_s is generated, the first-to-fourthsynchronization output units 32, 33, 34, and 35 respectively output thestored detection data as the sensing data C_ss, IC_ss, R_ss, and L_ss.In this case, the optical camera 11 may obtain two pieces of firstdetection data C_s (C1 and C2) during one period of the third detectiondata R_s outputted from the radar 13, and output the detection data tothe interface unit 20 and the signal processing unit 30. In this case,the automotive sensor integration module 100 according to an exemplaryembodiment of the present invention may output the first detection dataC_s (C2), among the two pieces of first detection data C_s (C1 and C2),obtained or outputted from the optical camera 11 as the sensing dataC_ss at the timing closest to that of the third detection data R_soutputted from the radar 13.

The automotive sensor integration module 100 according to an exemplaryembodiment of the present invention may store the first-to-fourthdetection data C_s, IC_s, R_s, and L_s, and output the stored detectiondata C_s, IC_s, R_s, and L_s on the basis of the synchronization pulseP_s according to any one (e.g., the third detection data R_s in FIG. 5 )among the first-to-fourth detection data C_s, IC_s, R_s, and L_s.

When a plurality of pieces of detection data (e.g., the first detectiondata C_s (C1 and C2) in FIG. 5 ) are generated for a specific sensorduring one period of the synchronization pulse P_s, the detection data(e.g., the first detection data C_s (C2) in FIG. 5 ) obtained or storedat the timing closest to that of the detection data (e.g., the thirddetection data R_s in FIG. 5 ) that becomes the reference of thesynchronization pulse P_s, which is an output timing, may be outputtedas sensing data.

The automotive sensor integration module according to the presentinvention may include a plurality of sensors having different sensingperiods and output data formats, convert the output data format of eachsensor to a specific data format (for example, a single data format),and synchronize and output data detected by the plurality of sensors onthe basis of a sensing period of one of the plurality of sensors.

Therefore, the ADAS or autonomous vehicle to which the automotive sensorintegration module according to the present invention is applied isadvantageous in object discrimination than the ADAS or autonomousvehicle in which each sensor is separated and disposed at differentpositions.

In relation to the automotive sensor integration module according to anembodiment of the present invention, since a plurality of sensors aresynchronized to operate, the performance of detecting objects outsidethe vehicle is improved.

Although exemplary embodiments of the present disclosure have been shownand described hereinabove, the present disclosure is not limited tospecific exemplary embodiments described above, but may be variousmodified by those skilled in the art to which the present disclosurepertains without departing from the scope and spirit of the disclosureas disclosed in the accompanying claims. In addition, such modificationsshould also be understood to fall within the scope and spirit of thepresent disclosure.

What is claimed is:
 1. An automotive sensor integration modulecomprising: a plurality of sensors comprising at least one of an opticalcamera, an infrared camera, a radar, and a lidar; and a circuit board inwhich the plurality of sensors are mounted.
 2. The automotive sensorintegration module of claim 1, wherein the plurality of sensors compriseat least two sensors of the same type.
 3. The automotive sensorintegration module of claim 2, further comprising: an interface unitconfigured to convert pieces of detection data outputted from theplurality of sensors into a predetermined data format; and a signalprocessor configured to output, at the same timing, the pieces ofdetection data converted by the interface unit on the basis of one pieceof detection data of one among the plurality of sensors.
 4. Theautomotive sensor integration module of claim 3, wherein, during oneperiod of the same timing, when a plurality of the converted detectiondata are inputted to the signal processor on the basis of each of theplurality of sensors, the signal processor outputs the converteddetection data corresponding to a timing closest to the timing of theone piece of detection data, at the same timing.
 5. The automotivesensor integration module of claim 3, wherein the signal processorcomprises: a synchronization pulse generation unit configured togenerate a synchronization pulse on the basis of the one piece ofdetection data among the pieces of converted detection data; and anoutput synchronization unit configured to receive and store each of thepieces of converted detection data.
 6. The automotive sensor integrationmodule of claim 5, wherein the output synchronization unit outputs thestored data when the synchronization pulse is inputted.
 7. Theautomotive sensor integration module of claim 6, wherein thesynchronization pulse generation unit generates the synchronizationpulse when a predetermined time elapses after the one piece of detectiondata among the pieces of converted detection data is inputted.
 8. Anautomotive sensor integration module comprising: an optical camera; aninfrared camera; a radar; a lidar; and a circuit board in which theoptical camera, the infrared camera, the radar, and the lidar aremounted, wherein the automotive sensor integration module outputs, atthe same timing, pieces of detection data outputted from the opticalcamera, the infrared camera, the radar, and the lidar on the basis ofdetection data outputted from the optical camera.
 9. The automotivesensor integration module of claim 8, wherein the circuit boardcomprises: an interface unit configured to convert the pieces ofdetection data outputted from the optical camera, the infrared camera,the radar, and the lidar into a predetermined data format; and a signalprocessor configured to output the pieces of converted detection datafrom the interface unit at the same timing.
 10. The automotive sensorintegration module of claim 9, wherein the signal processor isconfigured to: generate, after a predetermined time elapses, asynchronization pulse after the detection data outputted from theoptical camera and converted is inputted and, receive and store thepieces of detection data outputted from the optical camera, the infraredcamera, the radar, and the lidar, and converted, and outputs the piecesof stored detection data according to the synchronization pulse.